JP7341410B2 - 転舵制御装置、転舵制御プログラム - Google Patents
転舵制御装置、転舵制御プログラム Download PDFInfo
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- JP7341410B2 JP7341410B2 JP2019185654A JP2019185654A JP7341410B2 JP 7341410 B2 JP7341410 B2 JP 7341410B2 JP 2019185654 A JP2019185654 A JP 2019185654A JP 2019185654 A JP2019185654 A JP 2019185654A JP 7341410 B2 JP7341410 B2 JP 7341410B2
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Claims (3)
- 操作部材の操作による操作量に基づき転舵輪の転舵を制御する転舵制御装置であって、
操作量を示す操作量情報から車両の目標動特性を示す動特性情報を非線形な演算に基づき生成する動特性情報生成部と、
車両モデルを備えた最適サーボシステムであって、目標転舵角を出力する転舵角演算部と、
前記目標転舵角と実転舵角とが一致するように駆動装置を制御する転舵角制御部と、を備え、
前記車両モデルは、前記目標転舵角に基づき、前記車両の動特性推定値を出力し、
前記転舵角演算部は、前記動特性情報生成部において生成した動特性情報に基づき基礎目標転舵角を演算し、前記基礎目標転舵角を前記動特性推定値により補正して前記目標転舵角を算出する
転舵制御装置。 - 前記転舵角演算部は、
制御対象の車両に基づきシステム同定された伝達関数を備える
請求項2に記載の転舵制御装置。 - 操作部材の操作による操舵量に基づき転舵輪の転舵を制御する転舵制御装置に用いられる転舵制御プログラムであって、
操作量を示す操作量情報から車両の目標動特性を示す動特性情報を非線形な演算に基づき生成する動特性情報生成部と、
車両モデルを備えた最適サーボシステムであって、目標転舵角を出力する転舵角演算部と、
前記目標転舵角と実転舵角とが一致するように駆動装置を制御する転舵角制御部と、をコンピュータに機能させ、
前記車両モデルは、前記目標転舵角に基づき、前記車両の動特性推定値を出力し、
前記転舵角演算部は、前記動特性情報生成部において生成した動特性情報に基づき基礎目標転舵角を演算し、前記基礎目標転舵角を前記動特性推定値により補正して前記目標転舵角を算出する
転舵制御プログラム。
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JP2021059267A JP2021059267A (ja) | 2021-04-15 |
JP7341410B2 true JP7341410B2 (ja) | 2023-09-11 |
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Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2007038928A (ja) | 2005-08-04 | 2007-02-15 | Isuzu Motors Ltd | 車両の横転防止装置 |
JP2007074713A (ja) | 2005-09-06 | 2007-03-22 | Sony Corp | 画像切り換え装置及びその画像加工部の制御方法 |
JP2007216834A (ja) | 2006-02-16 | 2007-08-30 | Nissan Motor Co Ltd | 旋回挙動制御装置、自動車、及び旋回挙動制御方法 |
WO2010144049A1 (en) | 2009-06-11 | 2010-12-16 | Safe Mobility Ekonomisk Förening | Method for controlling vehicle steering and vehicle behaviour |
JP2013052834A (ja) | 2011-09-06 | 2013-03-21 | Nissan Motor Co Ltd | 規範応答演算装置およびそれを用いた車両用操舵装置 |
Family Cites Families (2)
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JPH072127A (ja) * | 1993-06-18 | 1995-01-06 | Nissan Motor Co Ltd | 車両の挙動制御装置 |
US7987029B2 (en) * | 2005-12-27 | 2011-07-26 | Honda Motor Co., Ltd. | Vehicle control device |
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Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2007038928A (ja) | 2005-08-04 | 2007-02-15 | Isuzu Motors Ltd | 車両の横転防止装置 |
JP2007074713A (ja) | 2005-09-06 | 2007-03-22 | Sony Corp | 画像切り換え装置及びその画像加工部の制御方法 |
JP2007216834A (ja) | 2006-02-16 | 2007-08-30 | Nissan Motor Co Ltd | 旋回挙動制御装置、自動車、及び旋回挙動制御方法 |
WO2010144049A1 (en) | 2009-06-11 | 2010-12-16 | Safe Mobility Ekonomisk Förening | Method for controlling vehicle steering and vehicle behaviour |
JP2013052834A (ja) | 2011-09-06 | 2013-03-21 | Nissan Motor Co Ltd | 規範応答演算装置およびそれを用いた車両用操舵装置 |
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